<html><head><meta http-equiv="content-type" content="text/html; charset=utf-8"> <style>
	.KEYW {color: #933;}
	.COMM {color: #bbb; font-style: italic;}
	.NUMB {color: #393;}
	.STRN {color: #393;}
	.REGX {color: #339;}
	.line {border-right: 1px dotted #666; color: #666; font-style: normal;}
	</style></head><body><pre><span class='line'>  1</span> <span class="COMM">/**
<span class='line'>  2</span>  * @author Russell Toris - rctoris@wpi.edu
<span class='line'>  3</span>  */</span><span class="WHIT">
<span class='line'>  4</span> 
<span class='line'>  5</span> </span><span class="COMM">/**
<span class='line'>  6</span>  * Manages connection to the server and all interactions with ROS.
<span class='line'>  7</span>  *
<span class='line'>  8</span>  * Emits the following events:
<span class='line'>  9</span>  *  * 'change' - emitted with a change in speed occurs
<span class='line'> 10</span>  *
<span class='line'> 11</span>  * @constructor
<span class='line'> 12</span>  * @param options - possible keys include:
<span class='line'> 13</span>  *   * ros - the ROSLIB.Ros connection handle
<span class='line'> 14</span>  *   * topic (optional) - the Twist topic to publish to, like '/cmd_vel'
<span class='line'> 15</span>  *   * throttle (optional) - a constant throttle for the speed
<span class='line'> 16</span>  */</span><span class="WHIT">
<span class='line'> 17</span> </span><span class="NAME">KEYBOARDTELEOP.Teleop</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">options</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 18</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">that</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">this</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 19</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 20</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.ros</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 21</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.topic</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="STRN">'/cmd_vel'</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 22</span> </span><span class="WHIT">  </span><span class="COMM">// permanent throttle</span><span class="WHIT">
<span class='line'> 23</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">throttle</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">options.throttle</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NUMB">1.0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 24</span> 
<span class='line'> 25</span> </span><span class="WHIT">  </span><span class="COMM">// used to externally throttle the speed (e.g., from a slider)</span><span class="WHIT">
<span class='line'> 26</span> </span><span class="WHIT">  </span><span class="NAME">this.scale</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1.0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 27</span> 
<span class='line'> 28</span> </span><span class="WHIT">  </span><span class="COMM">// linear x and y movement and angular z movement</span><span class="WHIT">
<span class='line'> 29</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 30</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 31</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 32</span> 
<span class='line'> 33</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">cmdVel</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Topic</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 34</span> </span><span class="WHIT">    </span><span class="NAME">ros</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">ros</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 35</span> </span><span class="WHIT">    </span><span class="NAME">name</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">topic</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 36</span> </span><span class="WHIT">    </span><span class="NAME">messageType</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="STRN">'geometry_msgs/Twist'</span><span class="WHIT">
<span class='line'> 37</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 38</span> 
<span class='line'> 39</span> </span><span class="WHIT">  </span><span class="COMM">// sets up a key listener on the page used for keyboard teleoperation</span><span class="WHIT">
<span class='line'> 40</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">handleKey</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">keyCode</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">keyDown</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 41</span> </span><span class="WHIT">    </span><span class="COMM">// used to check for changes in speed</span><span class="WHIT">
<span class='line'> 42</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">oldX</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">x</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 43</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">oldY</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 44</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">oldZ</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 45</span> 
<span class='line'> 46</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 47</span> </span><span class="WHIT">    </span><span class="COMM">// throttle the speed by the slider and throttle constant</span><span class="WHIT">
<span class='line'> 48</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">keyDown</span><span class="WHIT"> </span><span class="PUNC">===</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 49</span> </span><span class="WHIT">      </span><span class="NAME">speed</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">throttle</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">that.scale</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 50</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 51</span> </span><span class="WHIT">    </span><span class="COMM">// check which key was pressed</span><span class="WHIT">
<span class='line'> 52</span> </span><span class="WHIT">    </span><span class="KEYW">switch</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">keyCode</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 53</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">65</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 54</span> </span><span class="WHIT">        </span><span class="COMM">// turn left</span><span class="WHIT">
<span class='line'> 55</span> </span><span class="WHIT">        </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NUMB">1</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 56</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 57</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">87</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 58</span> </span><span class="WHIT">        </span><span class="COMM">// up</span><span class="WHIT">
<span class='line'> 59</span> </span><span class="WHIT">        </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">.</span><span class="NUMB">5</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 60</span> 
<span class='line'> 61</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 62</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">68</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 63</span> </span><span class="WHIT">        </span><span class="COMM">// turn right</span><span class="WHIT">
<span class='line'> 64</span> </span><span class="WHIT">        </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="NUMB">1</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 65</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 66</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">83</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 67</span> </span><span class="WHIT">        </span><span class="COMM">// down</span><span class="WHIT">
<span class='line'> 68</span> </span><span class="WHIT">        </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="PUNC">.</span><span class="NUMB">5</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 69</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 70</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">69</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 71</span> </span><span class="WHIT">        </span><span class="COMM">// strafe right</span><span class="WHIT">
<span class='line'> 72</span> </span><span class="WHIT">        </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">-</span><span class="PUNC">.</span><span class="NUMB">5</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 73</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 74</span> </span><span class="WHIT">      </span><span class="KEYW">case</span><span class="WHIT"> </span><span class="NUMB">81</span><span class="PUNC">:</span><span class="WHIT">
<span class='line'> 75</span> </span><span class="WHIT">        </span><span class="COMM">// strafe left</span><span class="WHIT">
<span class='line'> 76</span> </span><span class="WHIT">        </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="PUNC">.</span><span class="NUMB">5</span><span class="WHIT"> </span><span class="PUNC">*</span><span class="WHIT"> </span><span class="NAME">speed</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 77</span> </span><span class="WHIT">        </span><span class="KEYW">break</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 78</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 79</span> 
<span class='line'> 80</span> </span><span class="WHIT">    </span><span class="COMM">// publish the command</span><span class="WHIT">
<span class='line'> 81</span> </span><span class="WHIT">    </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">twist</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="KEYW">new</span><span class="WHIT"> </span><span class="NAME">ROSLIB.Message</span><span class="PUNC">(</span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 82</span> </span><span class="WHIT">      </span><span class="NAME">angular</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 83</span> </span><span class="WHIT">        </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 84</span> </span><span class="WHIT">        </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NUMB">0</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 85</span> </span><span class="WHIT">        </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT">
<span class='line'> 86</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 87</span> </span><span class="WHIT">      </span><span class="NAME">linear</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 88</span> </span><span class="WHIT">        </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">x</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 89</span> </span><span class="WHIT">        </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">y</span><span class="PUNC">,</span><span class="WHIT">
<span class='line'> 90</span> </span><span class="WHIT">        </span><span class="NAME">z</span><span class="WHIT"> </span><span class="PUNC">:</span><span class="WHIT"> </span><span class="NAME">z</span><span class="WHIT">
<span class='line'> 91</span> </span><span class="WHIT">      </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 92</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 93</span> </span><span class="WHIT">    </span><span class="NAME">cmdVel.publish</span><span class="PUNC">(</span><span class="NAME">twist</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 94</span> 
<span class='line'> 95</span> </span><span class="WHIT">    </span><span class="COMM">// check for changes</span><span class="WHIT">
<span class='line'> 96</span> </span><span class="WHIT">    </span><span class="KEYW">if</span><span class="WHIT"> </span><span class="PUNC">(</span><span class="NAME">oldX</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">x</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NAME">oldY</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">y</span><span class="WHIT"> </span><span class="PUNC">||</span><span class="WHIT"> </span><span class="NAME">oldZ</span><span class="WHIT"> </span><span class="PUNC">!==</span><span class="WHIT"> </span><span class="NAME">z</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'> 97</span> </span><span class="WHIT">      </span><span class="NAME">that.emit</span><span class="PUNC">(</span><span class="STRN">'change'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="NAME">twist</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'> 98</span> </span><span class="WHIT">    </span><span class="PUNC">}</span><span class="WHIT">
<span class='line'> 99</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>100</span> 
<span class='line'>101</span> </span><span class="WHIT">  </span><span class="COMM">// handle the key</span><span class="WHIT">
<span class='line'>102</span> </span><span class="WHIT">  </span><span class="KEYW">var</span><span class="WHIT"> </span><span class="NAME">body</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">document.getElementsByTagName</span><span class="PUNC">(</span><span class="STRN">'body'</span><span class="PUNC">)</span><span class="PUNC">[</span><span class="NUMB">0</span><span class="PUNC">]</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>103</span> </span><span class="WHIT">  </span><span class="NAME">body.addEventListener</span><span class="PUNC">(</span><span class="STRN">'keydown'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">e</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>104</span> </span><span class="WHIT">    </span><span class="NAME">handleKey</span><span class="PUNC">(</span><span class="NAME">e.keyCode</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">true</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>105</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>106</span> </span><span class="WHIT">  </span><span class="NAME">body.addEventListener</span><span class="PUNC">(</span><span class="STRN">'keyup'</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">function</span><span class="PUNC">(</span><span class="NAME">e</span><span class="PUNC">)</span><span class="WHIT"> </span><span class="PUNC">{</span><span class="WHIT">
<span class='line'>107</span> </span><span class="WHIT">    </span><span class="NAME">handleKey</span><span class="PUNC">(</span><span class="NAME">e.keyCode</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>108</span> </span><span class="WHIT">  </span><span class="PUNC">}</span><span class="PUNC">,</span><span class="WHIT"> </span><span class="KEYW">false</span><span class="PUNC">)</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>109</span> </span><span class="PUNC">}</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>110</span> </span><span class="NAME">KEYBOARDTELEOP.Teleop.prototype.__proto__</span><span class="WHIT"> </span><span class="PUNC">=</span><span class="WHIT"> </span><span class="NAME">EventEmitter2.prototype</span><span class="PUNC">;</span><span class="WHIT">
<span class='line'>111</span> </span></pre></body></html>